Intelligent automobile sensor dead zone pedestrian detection and active collision avoidance method

Abstract

The invention discloses an intelligent automobile sensor dead zone pedestrian detection and active collision avoidance method. The method comprises the steps of obtaining the driving state informationof an intelligent automobile during the driving process through a automobile-mounted sensor; at the same time, obtaining the sensor dead zone information, detecting whether a pedestrian enters a sensor dead zone or not; acquiring the pedestrian state information of the pedestrian at the sensor dead zone boundary A moment through the automobile-mounted sensor, wherein the pedestrian state information comprises the speed, the acceleration, the position information, etc.; carrying out optimization processing on the acquired pedestrian state information by the Kalman filtering, predicting whetherthe intelligent automobile is in a dangerous area or not when the pedestrian moves to a sensor dead zone boundary B through the related calculation, and judging whether the active collision avoidanceneeds to be performed in advance or not according to a prediction result. The intelligent automobile can actively avoid the dangerous collision working condition possibly caused by the existence of the sensor dead zone during the driving process, and is safer when passing through the sensor dead zone, so that the performance of an active safety system of the intelligent automobile and the drivingsafety of the automobile are effectively improved.

Description

technical field [0001] The invention relates to a pedestrian detection and active collision avoidance method in the blind area of ​​an intelligent automobile sensor, belonging to the technical field of driving safety. Background technique [0002] In recent years, with the development of science and technology, smart cars have gradually come into our sight. Smart cars sense the road environment through on-board sensing systems, automatically plan driving routes and control vehicles to reach predetermined targets. It uses on-board sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle based on the road, vehicle position and obstacle information obtained from the perception, so that the vehicle can drive safely and reliably on the road. Advanced vehicle active safety systems remain a top priority in smart vehicle technology research. In most road environments where people and vehicles are mixed, due to the obstructi...

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Problems solved by technology

The method for pedestrian detection and active collision avoidance in the blind area of ​​the smart car sensor involved in the present invention has not been reported yet

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